JP5282064B2 - Motor drive circuit and motor control device with failure detection function for inrush current suppression circuit - Google Patents

Motor drive circuit and motor control device with failure detection function for inrush current suppression circuit Download PDF

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JP5282064B2
JP5282064B2 JP2010081646A JP2010081646A JP5282064B2 JP 5282064 B2 JP5282064 B2 JP 5282064B2 JP 2010081646 A JP2010081646 A JP 2010081646A JP 2010081646 A JP2010081646 A JP 2010081646A JP 5282064 B2 JP5282064 B2 JP 5282064B2
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寛史 有田
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Japan Aviation Electronics Industry Ltd
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Description

本発明は、モータ駆動中に突入電流抑制回路の故障を検出する機能を持つモータ駆動回路と、このモータ駆動回路を備えたモータ制御装置に関する。   The present invention relates to a motor drive circuit having a function of detecting a failure of an inrush current suppression circuit during motor driving, and a motor control device including the motor drive circuit.

ＡＣサーボモータを駆動制御するサーボアンプ（モータ制御装置）のモータ駆動回路８００は、その起動時に突入電流と呼ばれる瞬間的な大電流が流れることを抑制するため、一般的に突入電流抑制回路を含んでいる。図１を参照して、モータ駆動回路８００に含まれる従来的な突入電流抑制回路９３０の構成と作用を説明する。   A motor drive circuit 800 of a servo amplifier (motor control device) that drives and controls an AC servo motor generally includes an inrush current suppression circuit in order to suppress an instantaneous large current called an inrush current from flowing at the time of activation. It is out. With reference to FIG. 1, the configuration and operation of a conventional inrush current suppression circuit 930 included in motor drive circuit 800 will be described.

突入電流抑制回路９３０が用いられているモータ駆動回路８００は例えば位置制御用サーボ機構を実現するための回路である。モータ駆動回路８００は、三相交流電源８５０からの交流を直流に変換するコンバータ部８６０と、コンバータ部８６０からの直流に含まれる脈流を除去する平滑回路８７０と、コンバータ部８６０と平滑回路８７０との間のラインの一方（この例ではコンバータ部８６０の負電源ＰＧ側のライン（接地ラインともいう））に接続された第１抵抗器９３１とこの第１抵抗器９３１と並列接続されたリレー９３２とを含む突入電流抑制回路９３０と、平滑された直流をＡＣサーボモータ８９０の駆動に用いられるモータ駆動交流に変換するインバータ部８８０と、ＡＣサーボモータ８９０をＰＷＭ（Pulse Width Modulation）制御するためにインバータ部８８０に含まれる半導体スイッチングデバイス８８１ａ，８８１ｂ，８８１ｃ，８８１ｄ，８８１ｅ，８８１ｆのＯＮ／ＯＦＦ制御を行うインバータ制御部８２０と、ＡＣサーボモータ８９０の位置を検出する位置検出器８３０（例えばアブソリュートエンコーダである）からの信号や後述する第１電流測定回路９１０が測定した電圧値や後述する第２電流測定回路９２０が測定した電圧値などに基づいてインバータ制御部８２０の制御を所定の制御アルゴリズムに従って行う制御回路８１０を含む。   The motor drive circuit 800 in which the inrush current suppression circuit 930 is used is a circuit for realizing a position control servo mechanism, for example. The motor drive circuit 800 includes a converter unit 860 that converts alternating current from the three-phase alternating current power supply 850 into direct current, a smoothing circuit 870 that removes pulsating current contained in direct current from the converter unit 860, a converter unit 860, and a smoothing circuit 870. A first resistor 931 connected to one of the lines between the first resistor 931 (in this example, a line on the negative power source PG side of the converter unit 860 (also referred to as a ground line)) and a relay connected in parallel with the first resistor 931 Inrush current suppression circuit 930 including 932, inverter unit 880 for converting the smoothed direct current into motor drive alternating current used to drive AC servo motor 890, and PWM (Pulse Width Modulation) control of AC servo motor 890 Semiconductor switching devices 881a, 881b, 881c, 881d, 881 included in the inverter unit 880 e, a signal from an inverter control unit 820 that performs ON / OFF control of 881f and a position detector 830 (for example, an absolute encoder) that detects the position of an AC servomotor 890, or a first current measurement circuit 910 described later. The control circuit 810 performs control of the inverter control unit 820 according to a predetermined control algorithm based on the measured voltage value, the voltage value measured by the second current measurement circuit 920 described later, and the like.

モータ駆動回路８００は、インバータ部８８０に流れる電流を電圧値として測定する第１電流測定回路９１０を備えている（このような構成の例として特許文献１参照）。第１電流測定回路９１０は、平滑回路８７０とインバータ部８８０との間の接地ライン（ＰＧ）に接続された第２抵抗器９１２と、第２抵抗器９１２の両端間の電圧を測定し出力する第１電圧測定器９１９を含む。第１電圧測定器９１９の出力はインバータ部８８０へ流れる電流を示す電圧値として制御回路８１０に入力される。   The motor drive circuit 800 includes a first current measurement circuit 910 that measures a current flowing through the inverter unit 880 as a voltage value (see Patent Document 1 for an example of such a configuration). The first current measurement circuit 910 measures and outputs the voltage between the second resistor 912 connected to the ground line (PG) between the smoothing circuit 870 and the inverter unit 880, and both ends of the second resistor 912. A first voltage measuring device 919 is included. The output of the first voltage measuring device 919 is input to the control circuit 810 as a voltage value indicating the current flowing to the inverter unit 880.

また、モータ駆動回路８００は、ＡＣサーボモータ８９０への電流を電圧値として測定する第２電流測定回路９２０を備えている。第２電流測定回路９２０は、インバータ部８８０とＡＣサーボモータ８９０との間のＵ相ラインに接続された第３抵抗器９２１とＷ相ラインに接続された第４抵抗器９２２と、第３抵抗器９２１の両端間の電圧および第４抵抗器９２２の両端間の電圧を測定し出力する第２電圧測定器９２９を含む。第２電圧測定器９２９の出力は制御回路８１０に入力され、ＡＣサーボモータ８９０へ流れる電流が求められる。   In addition, the motor drive circuit 800 includes a second current measurement circuit 920 that measures the current to the AC servomotor 890 as a voltage value. The second current measurement circuit 920 includes a third resistor 921 connected to the U-phase line between the inverter unit 880 and the AC servo motor 890, a fourth resistor 922 connected to the W-phase line, and a third resistor. A second voltage measuring device 929 that measures and outputs the voltage across the resistor 921 and the voltage across the fourth resistor 922. The output of the second voltage measuring device 929 is input to the control circuit 810, and the current flowing to the AC servo motor 890 is obtained.

このようなモータ駆動回路８００では、平滑回路８７０が一般的に大容量の平滑コンデンサ８７１とされ、サーボアンプの起動時には平滑コンデンサ８７１が充電されていないことから突入電流が流れることがある。そこで、サーボアンプの起動時にはリレー９３２の接点はＯＦＦ状態とされ、コンバータ部８６０からの突入電流は第１抵抗器９３１で制限され、突入電流によるコンバータ部８６０などへの悪影響を防止することができる。他方、平滑コンデンサ８７１充電完了後の通常動作時にはリレー９３２の接点はＯＮ状態とされている。この状態では、コンバータ部８６０からの直流は第１抵抗器９３１ではなくリレー９３２を流れるため、第１抵抗器９３１による無用な電力消費を抑えることができる。   In such a motor drive circuit 800, the smoothing circuit 870 is generally a large-capacity smoothing capacitor 871, and an inrush current may flow because the smoothing capacitor 871 is not charged when the servo amplifier is activated. Therefore, when the servo amplifier is activated, the contact of the relay 932 is turned off, and the inrush current from the converter unit 860 is limited by the first resistor 931, so that adverse effects on the converter unit 860 and the like due to the inrush current can be prevented. . On the other hand, the contact of the relay 932 is in an ON state during normal operation after completion of charging of the smoothing capacitor 871. In this state, since the direct current from the converter unit 860 flows through the relay 932 instead of the first resistor 931, useless power consumption by the first resistor 931 can be suppressed.

サーボアンプの起動時に突入電流が流れることを抑制する観点から、サーボアンプが非通電状態であるときにリレー９３２の接点がＯＦＦ状態であることが好ましい。このため、リレー９３２として一般的に、接点の切替動作を行うコイル９３３が無励磁状態のときにリレー接点がＯＦＦとなる、例えばａ接点と呼ばれる種類のリレーが選定される。   From the viewpoint of suppressing an inrush current from flowing when the servo amplifier is activated, it is preferable that the contact of the relay 932 is in an OFF state when the servo amplifier is in a non-energized state. For this reason, the relay 932 is generally selected from a type of relay called a contact, for example, which turns OFF when the coil 933 that performs contact switching operation is in an unexcited state.

第１抵抗器９３１の抵抗値は、平滑コンデンサ８７１の容量値との積によって定まる時定数を考慮して設定され、一般的に数Ω〜数十Ωと比較的大きい。このため、第１抵抗器９３１を短絡するリレー９３２が故障した場合、インバータ部８８０に流れる電流により第１抵抗器９３１が発熱し破損する可能性がある。そこで、突入電流抑制回路９３０の故障を検出する必要がある。例えば特許文献２に開示される技術はホール素子を利用して第１抵抗器９３１に流れる電流を検出することにより、突入電流抑制回路９３０の故障を検出している。   The resistance value of the first resistor 931 is set in consideration of a time constant determined by the product of the capacitance value of the smoothing capacitor 871, and is generally relatively large such as several Ω to several tens Ω. For this reason, when the relay 932 which short-circuits the 1st resistor 931 fails, the 1st resistor 931 may generate | occur | produce and damage with the electric current which flows into the inverter part 880. FIG. Therefore, it is necessary to detect a failure of the inrush current suppression circuit 930. For example, the technique disclosed in Patent Document 2 detects a failure of the inrush current suppression circuit 930 by detecting a current flowing through the first resistor 931 using a Hall element.

特開２０１０−１１６４２号公報JP 2010-11642 A 特開２００８−２０６３６４号公報JP 2008-206364 A

特許文献２に開示される技術によると、突入電流抑制回路９３０の故障を検出するために、ホール素子など新たな回路を追加する必要があり、その分だけコストが増大する構成である。   According to the technique disclosed in Patent Document 2, it is necessary to add a new circuit such as a Hall element in order to detect a failure of the inrush current suppression circuit 930, and the cost increases accordingly.

そこで本発明は、従来と比較して追加部品が不要でありながら、モータ駆動中に突入電流抑制回路の故障を検出する機能を持つモータ駆動回路と、このモータ駆動回路を備えたモータ制御装置を提供することを目的とする。   Accordingly, the present invention provides a motor drive circuit having a function of detecting a failure of an inrush current suppression circuit during motor driving and a motor control device including the motor drive circuit while no additional parts are required as compared with the prior art. The purpose is to provide.

上記課題を解決するため、本発明のモータ駆動回路は、交流電源からの交流を直流に変換するコンバータ部と、コンバータ部からの直流に含まれる脈流を除去する平滑回路と、平滑された直流をモータの駆動に用いられるモータ駆動交流に変換するインバータ部とを含み、さらに、（１）コンバータ部と平滑回路との間のラインの一方に接続された第１抵抗器とこの第１抵抗器と並列接続されたリレーとを含む突入電流抑制回路と、平滑回路とインバータ部との間のラインにて、第１抵抗器の一端に一端が接続された第２抵抗器とを含み、第１抵抗器の他端と第２抵抗器の他端との間の電圧を測定し出力する第１電流測定回路と、（２）モータに流れる電流を電圧値として出力する第２電流測定回路と、（３）第１電流測定回路が出力した電圧値と、第２電流測定回路が出力した電圧値から推定される第１電流測定回路の電圧値との比較により突入電流抑制回路が故障したと判定する制御回路とを含む。   In order to solve the above problems, a motor drive circuit of the present invention includes a converter unit that converts alternating current from an alternating current power source into direct current, a smoothing circuit that removes pulsating current contained in direct current from the converter unit, and a smoothed direct current And (1) a first resistor connected to one of the lines between the converter unit and the smoothing circuit, and the first resistor. And a second resistor having one end connected to one end of the first resistor in a line between the smoothing circuit and the inverter unit, and a first resistor. A first current measurement circuit that measures and outputs a voltage between the other end of the resistor and the other end of the second resistor; (2) a second current measurement circuit that outputs a current flowing through the motor as a voltage value; (3) Electric power output from the first current measurement circuit Including values and, and determining control circuit with inrush current limit circuit has failed by comparing the voltage value of the first current measuring circuit in which the second current measuring circuit is estimated from the voltage value output.

あるいは本発明のモータ駆動回路は、交流電源からの交流を直流に変換するコンバータ部と、コンバータ部からの直流に含まれる脈流を除去する平滑回路と、平滑された直流をモータの駆動に用いられるモータ駆動交流に変換するインバータ部とを含み、さらに、（１）コンバータ部と平滑回路との間のラインの一方に接続された第１抵抗器とこの第１抵抗器と並列接続されたリレーとを含む突入電流抑制回路と、平滑回路とインバータ部との間のラインにて、第１抵抗器の一端に一端が接続された第２抵抗器とを含み、第１抵抗器の他端と第２抵抗器の他端との間の電圧を測定し出力する第１電流測定回路と、（２）第１電流測定回路が出力した電圧値の変化が所定の倍率を超えている場合に突入電流抑制回路が故障したと判定する制御回路とを含む。   Or the motor drive circuit of this invention uses the converter part which converts the alternating current from alternating current power supply into direct current | flow, the smoothing circuit which removes the pulsating current contained in the direct current from a converter part, and the smoothed direct current | flow for driving a motor An inverter unit for converting the motor-driven alternating current to the motor, and (1) a first resistor connected to one of the lines between the converter unit and the smoothing circuit, and a relay connected in parallel to the first resistor And a second resistor having one end connected to one end of the first resistor in a line between the smoothing circuit and the inverter unit, and the other end of the first resistor, A first current measuring circuit for measuring and outputting a voltage between the other end of the second resistor, and (2) rushing when a change in voltage value output by the first current measuring circuit exceeds a predetermined magnification. A control circuit that determines that the current suppression circuit has failed. Including the door.

また、本発明のモータ制御装置は、モータと本発明のモータ駆動回路とを含む。   The motor control device of the present invention includes a motor and the motor drive circuit of the present invention.

本発明によれば、第１電流測定回路による電圧測定部分を第１抵抗器と第２抵抗器の両端間（第１抵抗器の他端と第２抵抗器の他端との間）とすることにより、従来と比較して追加部品が不要でありながら、モータ駆動中に突入電流抑制回路の故障を検出することができる。   According to the present invention, the voltage measurement portion by the first current measurement circuit is between both ends of the first resistor and the second resistor (between the other end of the first resistor and the other end of the second resistor). As a result, it is possible to detect a failure of the inrush current suppression circuit while the motor is being driven while no additional parts are required as compared with the prior art.

突入電流抑制回路を含む従来的なモータ駆動回路を示す図。The figure which shows the conventional motor drive circuit containing an inrush current suppression circuit. 本発明の実施形態並びにその変形例に係わるモータ駆動回路およびモータ制御装置を示す図。The figure which shows the motor drive circuit and motor control apparatus concerning embodiment of this invention and its modification.

本発明の実施形態の一例であるモータ駆動回路１００およびモータ制御装置２００を図２に示す。説明の便宜のため、モータ駆動回路１００が例えば位置制御用サーボ機構を実現するためのサーボアンプに含まれる場合を例にとって説明する。   FIG. 2 shows a motor drive circuit 100 and a motor control device 200 that are examples of the embodiment of the present invention. For convenience of explanation, a case where the motor drive circuit 100 is included in a servo amplifier for realizing a servo mechanism for position control will be described as an example.

モータ駆動回路１００は、三相交流電源８５０からの交流を直流に三相全波整流するコンバータ部８６０（６個の整流ダイオード８６０１が２個一組として三組に別れ、各組の整流ダイオード８６０１同士の接続部が三相交流電源８５０のＲ，Ｓ，Ｔのいずれかの相線に接続されている）と、コンバータ部８６０からの直流に含まれる脈流を除去する平滑回路８７０（この実施形態では大容量の平滑コンデンサ８７１）と、コンバータ部８６０と平滑回路８７０との間のラインの一方（この例では接地ライン（ＰＧ））に接続された第１抵抗器９３１とこの第１抵抗器９３１と並列接続されたリレー９３２とを含む突入電流抑制回路９３０と、平滑された直流をＡＣサーボモータ８９０の駆動に用いられるモータ駆動交流に変換するインバータ部８８０と、ＡＣサーボモータ８９０への電流を電圧値として測定する第２電流測定回路９２０（インバータ部８８０とＡＣサーボモータ８９０との間のＵ相ラインに接続された第３抵抗器９２１とＷ相ラインに接続された第４抵抗器９２２と、第３抵抗器９２１の両端間の電圧および第４抵抗器９２２の両端間の電圧を測定する第２電圧測定器９２９を含む）、ＡＣサーボモータ８９０をＰＷＭ制御するためにインバータ部８８０に含まれる半導体スイッチングデバイス８８１ａ，８８１ｂ，８８１ｃ，８８１ｄ，８８１ｅ，８８１ｆのＯＮ／ＯＦＦ制御を行うインバータ制御部８２０と、ＡＣサーボモータ８９０の位置を検出する位置検出器８３０（例えばアブソリュートエンコーダである）からの信号や第２電流測定回路９２０が測定した電圧値や後述する第１電流測定回路１５０が測定した電圧値などに基づいてインバータ制御部８２０の制御を所定の制御アルゴリズムに従って行う制御回路８１０を含む。なお、第１抵抗器９３１、第２抵抗器９１２は正電源側に接続しても良く、第３抵抗器９２１と第４抵抗器９２２はＵ相、Ｗ相である必要はなくＵ相、Ｖ相、Ｗ相のうちの２相のラインに接続されていれば良い。   The motor drive circuit 100 includes a converter unit 860 (6 rectifier diodes 8601 are divided into 3 groups each including 6 rectifier diodes 8601, each of which is a rectifier diode 8601. And a smoothing circuit 870 that removes the pulsating current contained in the direct current from the converter 860 (this embodiment is connected to the phase line of any of R, S, and T of the three-phase AC power source 850). The first resistor 931 is connected to one of the lines between the converter unit 860 and the smoothing circuit 870 (in this example, the ground line (PG)) and the first resistor. Inrush current suppression circuit 930 including relay 932 connected in parallel with 931, and an inverter that converts the smoothed direct current into motor-driven alternating current used to drive AC servomotor 890 Unit 880 and a second current measuring circuit 920 that measures the current to AC servo motor 890 as a voltage value (third resistor 921 connected to a U-phase line between inverter unit 880 and AC servo motor 890 and W A fourth resistor 922 connected to the phase line, and a second voltage measuring device 929 that measures the voltage across the third resistor 921 and the voltage across the fourth resistor 922), an AC servo motor Inverter control unit 820 that performs ON / OFF control of semiconductor switching devices 881a, 881b, 881c, 881d, 881e, and 881f included in inverter unit 880 for PWM control of 890, and a position that detects the position of AC servo motor 890 The signal from the detector 830 (for example, an absolute encoder) and the second current measurement circuit 920 are measured. And a control circuit 810 for controlling the inverter control section 820 in accordance with a predetermined control algorithm based on such a voltage value and below a voltage value by the first current measuring circuit 150 to measure the. The first resistor 931 and the second resistor 912 may be connected to the positive power supply side, and the third resistor 921 and the fourth resistor 922 do not need to be U-phase and W-phase, but U-phase, V-phase It may be connected to the two-phase line of the phase and the W phase.

モータ駆動回路１００は、さらに、第１電流測定回路１５０を備えている。第１電流測定回路１５０は、突入電流抑制回路９３０と、平滑回路８７０とインバータ部８８０との間にて第１抵抗器９３１の一端に一端が接続された第２抵抗器９１２と、第１抵抗器９３１と第２抵抗器９１２の両端間９１４−９１５（つまり、第１抵抗器９３１の他端９１４と第２抵抗器９１２の他端９１５との間）の電圧を測定し出力する第１電圧測定器９１８を含む。このように、接地ライン（ＰＧ）にて、第１抵抗器９３１の一端が平滑回路８７０の一端に接続され、第１抵抗器９３１の他端９１４がコンバータ部８６０に接続され、第２抵抗器９１２の一端が平滑回路８７０と第１抵抗器９３１との接続部位に接続され、第２抵抗器９１２の他端９１５がインバータ部８８０に接続されている。第１電圧測定器９１８が測定した第１抵抗器９３１と第２抵抗器９１２の両端間９１４−９１５の電圧値は制御回路８１０に入力される。   The motor drive circuit 100 further includes a first current measurement circuit 150. The first current measurement circuit 150 includes an inrush current suppression circuit 930, a second resistor 912 having one end connected to one end of the first resistor 931 between the smoothing circuit 870 and the inverter unit 880, and a first resistor A first voltage that measures and outputs a voltage 914-915 between both ends of the resistor 931 and the second resistor 912 (that is, between the other end 914 of the first resistor 931 and the other end 915 of the second resistor 912). A meter 918. Thus, at the ground line (PG), one end of the first resistor 931 is connected to one end of the smoothing circuit 870, the other end 914 of the first resistor 931 is connected to the converter unit 860, and the second resistor One end of 912 is connected to a connection portion between the smoothing circuit 870 and the first resistor 931, and the other end 915 of the second resistor 912 is connected to the inverter unit 880. The voltage value of 914-915 between both ends of the first resistor 931 and the second resistor 912 measured by the first voltage measuring device 918 is input to the control circuit 810.

なお、本発明の実施形態の一例であるモータ制御装置２００は、上述のモータ駆動回路１００とＡＣサーボモータ８９０とを含む構成を有する。   In addition, the motor control apparatus 200 which is an example of embodiment of this invention has the structure containing the above-mentioned motor drive circuit 100 and AC servomotor 890. FIG.

モータ駆動回路１００では、サーボアンプの起動時にはリレー９３２の接点はＯＦＦ状態とされ、コンバータ部８６０からの直流（突入電流）が第１抵抗器９３１及び平滑回路８７０を流れる。このため、突入電流は第１抵抗器９３１で制限され、突入電流によるコンバータ部８６０などへの悪影響を防止することができる。他方、モータ駆動回路１００の通常動作時にはリレー９３２の接点はＯＮ状態とされている。この状態では、コンバータ部８６０からの直流は第１抵抗器９３１ではなくリレー９３２及び平滑回路８７０を流れるため、第１抵抗器９３１による無用な電力消費を抑えることができる。   In the motor drive circuit 100, the contact of the relay 932 is turned off when the servo amplifier is activated, and a direct current (inrush current) from the converter unit 860 flows through the first resistor 931 and the smoothing circuit 870. For this reason, the inrush current is limited by the first resistor 931, and adverse effects on the converter unit 860 and the like due to the inrush current can be prevented. On the other hand, during the normal operation of the motor drive circuit 100, the contact of the relay 932 is in the ON state. In this state, since the direct current from the converter unit 860 flows through the relay 932 and the smoothing circuit 870 instead of the first resistor 931, useless power consumption by the first resistor 931 can be suppressed.

起動時から通常動作時への遷移におけるリレー９３２の動作制御は、例えば次のようになされる。図示しない電圧測定器が測定した平滑回路８７０に含まれる平滑コンデンサ８７１の両端間電圧値が制御回路８１０に入力され、制御回路８１０は前記両端間電圧値が所定値を超えたときにリレー制御信号を出力する。コイル９３３はリレー制御信号により無励磁状態から励磁状態に変化し、リレー９３２の接点がＯＮ状態にされる。   The operation control of the relay 932 in the transition from the startup time to the normal operation time is performed as follows, for example. A voltage value across the smoothing capacitor 871 included in the smoothing circuit 870 measured by a voltage measuring device (not shown) is input to the control circuit 810, and the control circuit 810 outputs a relay control signal when the voltage value across the both ends exceeds a predetermined value. Is output. The coil 933 is changed from the non-excited state to the excited state by the relay control signal, and the contact of the relay 932 is turned on.

通常動作時では、第１電流測定回路１５０（具体的には第１電圧測定器９１８）が測定する電圧値は、リレー９３２の接点抵抗値と第２抵抗器９１２の抵抗値との合算値に対応する値である。もし、突入電流抑制回路９３０に含まれるリレー９３２において接点の部分溶着などの不具合が生じてリレー９３２の接点抵抗値が増大すると、ＰＷＭ制御の下でＡＣサーボモータ８９０に流れる電流が一定であると、第１電流測定回路１５０（具体的には第１電圧測定器９１８）が測定する電圧値は増加していくことになる。従って、第２電流測定回路９２０（具体的には第２電圧測定器９２９）が測定する電圧値から推定される「第１電流測定回路１５０が出力するであろう電圧値」と、「実際に第１電流測定回路１５０（具体的には第１電圧測定器９１８）が測定する電圧値」との間に差が生じることになる。このことを具体的に説明するため、第１抵抗器９３１の抵抗値をＲ１、第２抵抗器９１２の抵抗値をＲ２、リレー９３２の接点が正常の場合の接点抵抗値を０Ω、接点が異常の場合の接点抵抗値をＲ３とし、Ｒ１とＲ３の合成抵抗をＲ４（＝Ｒ１Ｒ３／（Ｒ１＋Ｒ３））とする。リレー９３２の接点が異常となっても流れる電流は変わらないので、リレー９３２の接点が異常の場合は接点が正常である場合に比べて第１電流測定回路１５０（具体的には第１電圧測定器９１８）が実際に測定する電圧値が（Ｒ４＋Ｒ２）／Ｒ２倍となる。Ｒ３がＲ２と同程度であれば、通常Ｒ１≫Ｒ２でありＲ２≒Ｒ３であることから第１抵抗器９３１とリレー９３２の合成抵抗Ｒ４はＲ２とほぼ等しくなる。したがってこの場合、実際に測定される電圧値は推定される電圧値の約２倍となる。制御回路８１０は、この差に基づき突入電流抑制回路９３０の故障を検出する。例えば、制御回路８１０による故障判定がＣＰＵを用いたディジタル処理によるものである場合、所定の閾値と前記差との大小比較を行い、前記差が所定の閾値を越えたときに突入電流抑制回路９３０が故障したと判定する。制御回路８１０は、突入電流抑制回路９３０の故障を検出すると、上位コントローラに当該故障を通知し、インバータ制御部８２０を制御してサーボアンプを安全に停止する。   During normal operation, the voltage value measured by the first current measuring circuit 150 (specifically, the first voltage measuring device 918) is the sum of the contact resistance value of the relay 932 and the resistance value of the second resistor 912. Corresponding value. If the contact resistance value of the relay 932 increases due to a failure such as partial welding of the contacts in the relay 932 included in the inrush current suppression circuit 930, the current flowing to the AC servomotor 890 is constant under PWM control. The voltage value measured by the first current measuring circuit 150 (specifically, the first voltage measuring device 918) increases. Therefore, “the voltage value that the first current measurement circuit 150 will output” estimated from the voltage value measured by the second current measurement circuit 920 (specifically, the second voltage measurement device 929), and “actually A difference is generated between the first current measuring circuit 150 (specifically, the voltage value measured by the first voltage measuring device 918). In order to explain this specifically, the resistance value of the first resistor 931 is R1, the resistance value of the second resistor 912 is R2, the contact resistance value when the contact of the relay 932 is normal is 0Ω, and the contact is abnormal In this case, the contact resistance value is R3, and the combined resistance of R1 and R3 is R4 (= R1R3 / (R1 + R3)). Even if the contact of the relay 932 becomes abnormal, the flowing current does not change. Therefore, when the contact of the relay 932 is abnormal, the first current measurement circuit 150 (specifically, the first voltage measurement) is compared with the case where the contact is normal. The voltage value actually measured by the device 918) is (R4 + R2) / R2 times. If R3 is about the same as R2, since R1 >> R2 and R2≈R3, the combined resistance R4 of the first resistor 931 and the relay 932 is almost equal to R2. Therefore, in this case, the actually measured voltage value is about twice the estimated voltage value. The control circuit 810 detects a failure of the inrush current suppression circuit 930 based on this difference. For example, when the failure determination by the control circuit 810 is based on digital processing using a CPU, a magnitude comparison between a predetermined threshold and the difference is performed, and an inrush current suppression circuit 930 is obtained when the difference exceeds the predetermined threshold. Is determined to have failed. When the control circuit 810 detects a failure of the inrush current suppression circuit 930, the control circuit 810 notifies the host controller of the failure and controls the inverter control unit 820 to safely stop the servo amplifier.

[実施形態の変形例]
上記実施形態の変形例を、図２を参照して説明する。この変形例は上記実施形態と比較して突入電流抑制回路９３０の故障検出の判定に違いがある。よって、上記実施形態と同じ構成要素に同一符号を割り当て、それらの機能・作用について上記実施形態と異なる部分について説明を行う。 [Modification of Embodiment]
A modification of the above embodiment will be described with reference to FIG. This modification is different from the above embodiment in the determination of failure detection of the inrush current suppression circuit 930. Therefore, the same reference numerals are assigned to the same constituent elements as those in the above embodiment, and their functions and actions will be described with respect to portions different from those in the above embodiment.

なお、この変形例において後述のように突入電流抑制回路９３０の故障を検出する場合、突入電流抑制回路９３０の故障検出という観点からはモータ駆動回路１００にとって第２電流測定回路９２０は必須の構成要素ではない。この変形例に関して図２を参照する際には、この点に留意されたい。ただし、制御回路８１０が第２電流測定回路９２０が出力する電圧値をインバータ部８８０に対する制御などに用いることがあるから、モータ駆動回路１００が第２電流測定回路９２０を含んではならないという趣旨ではない。   In this modification, when a failure of the inrush current suppression circuit 930 is detected as described later, the second current measurement circuit 920 is an indispensable component for the motor drive circuit 100 from the viewpoint of detecting the failure of the inrush current suppression circuit 930. is not. This point should be noted when referring to FIG. 2 for this variant. However, since the control circuit 810 may use the voltage value output from the second current measurement circuit 920 for the control of the inverter unit 880 or the like, this does not mean that the motor drive circuit 100 should not include the second current measurement circuit 920. .

突入電流抑制回路９３０に含まれるリレー９３２の接点が故障によりＯＦＦ状態となると、第１電流測定回路１５０（具体的には第１電圧測定器９１８）が測定する電圧値は、第１抵抗器９３１の抵抗値と第２抵抗器９１２の抵抗値との合算値に対応する電圧値になる。第１抵抗器９３１の抵抗値はリレー９３２の接点抵抗値と比較して十分に大きく、また第２抵抗器９１２と比較しても大きいことが一般的であるから、このような故障形態であれば、通常動作時にて測定される電圧値の範囲を大きく逸脱した電圧値が第１電流測定回路１５０（具体的には第１電圧測定器９１８）によって測定されることになる。このことを具体的に説明するため、第１抵抗器９３１の抵抗値をＲ１、第２抵抗器９１２の抵抗値をＲ２、リレー９３２の接点が正常の場合の接点抵抗値を０Ω、接点がＯＦＦ状態の場合の接点抵抗値を∞Ωとする。リレー９３２の接点が異常となっても流れる電流は変わらないので、リレー９３２の接点が異常の場合は接点が正常の場合に比べて第１電流測定回路１５０（具体的には第１電圧測定器９１８）が測定する電圧値が（Ｒ１＋Ｒ２）／Ｒ２倍となる。通常Ｒ１≫Ｒ２であるので、この電圧値は大きく変化する。そのため、制御回路８１０は、第１電流測定回路１５０（具体的には第１電圧測定器９１８）が出力する電圧値のこのような異常変化に基づき突入電流抑制回路９３０の故障を検出できる。例えば、制御回路８１０による故障判定がＣＰＵを用いたディジタル処理によるものである場合、電圧値の変化の前後の比率が所定の倍率を超えた場合に突入電流抑制回路９３０が故障したと判定する。制御回路８１０は、突入電流抑制回路９３０の故障を検出すると、上位コントローラに当該故障を通知し、インバータ制御部８２０を制御してサーボアンプを安全に停止する。   When the contact of the relay 932 included in the inrush current suppression circuit 930 is turned off due to a failure, the voltage value measured by the first current measurement circuit 150 (specifically, the first voltage measurement device 918) is the first resistor 931. And a voltage value corresponding to the sum of the resistance value of the second resistor 912. In general, the resistance value of the first resistor 931 is sufficiently larger than the contact resistance value of the relay 932 and larger than that of the second resistor 912. For example, a voltage value greatly deviating from the range of voltage values measured during normal operation is measured by the first current measuring circuit 150 (specifically, the first voltage measuring device 918). In order to explain this specifically, the resistance value of the first resistor 931 is R1, the resistance value of the second resistor 912 is R2, the contact resistance value when the contact of the relay 932 is normal is 0Ω, and the contact is OFF The contact resistance value in the state is ∞Ω. Since the flowing current does not change even if the contact of the relay 932 becomes abnormal, the first current measuring circuit 150 (specifically, the first voltage measuring device) is compared with the case where the contact of the relay 932 is abnormal compared to the case where the contact is normal. The voltage value measured by 918) is (R1 + R2) / R2 times. Since usually R1 >> R2, this voltage value changes greatly. Therefore, the control circuit 810 can detect a failure of the inrush current suppression circuit 930 based on such an abnormal change in the voltage value output from the first current measurement circuit 150 (specifically, the first voltage measurement device 918). For example, when the failure determination by the control circuit 810 is based on digital processing using a CPU, it is determined that the inrush current suppression circuit 930 has failed when the ratio before and after the change in voltage value exceeds a predetermined magnification. When the control circuit 810 detects a failure of the inrush current suppression circuit 930, the control circuit 810 notifies the host controller of the failure and controls the inverter control unit 820 to safely stop the servo amplifier.

なお、電流測定の具体的手段と方法、電流の推定値と実測値との差に基づく故障判定の具体的手段と方法は、いずれも周知のアナログ処理やディジタル処理によって実現可能であり、詳細な説明を略する。また、故障判定アルゴリズムも上述の実施形態に限定されない。以上の実施形態の他、本発明は上述の実施形態に限定されるものではなく、本発明の趣旨を逸脱しない範囲で適宜変更が可能である。   Note that the specific means and method for current measurement and the specific means and method for failure determination based on the difference between the estimated current value and the actual measurement value can all be realized by well-known analog processing and digital processing. The explanation is omitted. Also, the failure determination algorithm is not limited to the above embodiment. In addition to the above-described embodiments, the present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the spirit of the present invention.

Claims (3)

交流電源からの交流を直流に変換するコンバータ部と、
上記コンバータ部からの直流に含まれる脈流を除去する平滑回路と、
平滑された直流をモータの駆動に用いられるモータ駆動交流に変換するインバータ部とを含むモータ駆動回路であって、
さらに、
上記コンバータ部と上記平滑回路との間のラインの一方に接続された第１抵抗器とこの第１抵抗器と並列接続されたリレーとを含む突入電流抑制回路と、上記平滑回路と上記インバータ部との間のラインにて、上記インバータ部に流れる電流を測定するための、当該第１抵抗器の一端に一端が接続された第２抵抗器とを含み、当該第１抵抗器の他端と当該第２抵抗器の他端との間の電圧を測定し出力する第１電流測定回路と、
上記モータに流れる電流を電圧値として出力する第２電流測定回路と、
上記第１電流測定回路が出力した電圧値と、上記第２電流測定回路が出力した電圧値から推定される上記第１電流測定回路の電圧値との比較により上記突入電流抑制回路が故障したと判定する制御回路と
を含むことを特徴とするモータ駆動回路。 A converter that converts alternating current from an alternating current power source into direct current;
A smoothing circuit for removing the pulsating current contained in the direct current from the converter unit;
A motor drive circuit including an inverter unit that converts smoothed direct current into motor drive alternating current used for driving the motor,
further,
Inrush current suppression circuit including a first resistor connected to one of the lines between the converter unit and the smoothing circuit and a relay connected in parallel with the first resistor, the smoothing circuit, and the inverter unit A second resistor having one end connected to one end of the first resistor for measuring a current flowing through the inverter unit in a line between the first resistor and the other end of the first resistor; A first current measuring circuit for measuring and outputting a voltage between the other end of the second resistor;
A second current measuring circuit that outputs a current flowing through the motor as a voltage value;
The inrush current suppression circuit has failed due to a comparison between the voltage value output from the first current measurement circuit and the voltage value of the first current measurement circuit estimated from the voltage value output from the second current measurement circuit. And a control circuit for determining the motor drive circuit. 交流電源からの交流を直流に変換するコンバータ部と、
上記コンバータ部からの直流に含まれる脈流を除去する平滑回路と、
平滑された直流をモータの駆動に用いられるモータ駆動交流に変換するインバータ部とを含むモータ駆動回路であって、
さらに、
上記コンバータ部と上記平滑回路との間のラインの一方に接続された第１抵抗器とこの第１抵抗器と並列接続されたリレーとを含む突入電流抑制回路と、上記平滑回路と上記インバータ部との間のラインにて、上記インバータ部に流れる電流を測定するための、当該第１抵抗器の一端に一端が接続された第２抵抗器とを含み、当該第１抵抗器の他端と当該第２抵抗器の他端との間の電圧を測定し出力する第１電流測定回路と、
上記第１電流測定回路が出力した電圧値の変化が所定の倍率を超えている場合に上記突入電流抑制回路が故障したと判定する制御回路と
を含むことを特徴とするモータ駆動回路。 A converter that converts alternating current from an alternating current power source into direct current;
A smoothing circuit for removing the pulsating current contained in the direct current from the converter unit;
A motor drive circuit including an inverter unit that converts smoothed direct current into motor drive alternating current used for driving the motor,
further,
Inrush current suppression circuit including a first resistor connected to one of the lines between the converter unit and the smoothing circuit and a relay connected in parallel with the first resistor, the smoothing circuit, and the inverter unit A second resistor having one end connected to one end of the first resistor for measuring a current flowing through the inverter unit in a line between the first resistor and the other end of the first resistor; A first current measuring circuit for measuring and outputting a voltage between the other end of the second resistor;
And a control circuit that determines that the inrush current suppression circuit has failed when a change in the voltage value output from the first current measurement circuit exceeds a predetermined magnification. 請求項１または請求項２に記載のモータ駆動回路、及びモータを有するモータ制御装置。       The motor drive circuit of Claim 1 or Claim 2, and the motor control apparatus which has a motor.
JP2010081646A 2010-03-31 2010-03-31 Motor drive circuit and motor control device with failure detection function for inrush current suppression circuit Active JP5282064B2 (en)

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